gurselturkeri/chessmate

ChessMate

Launch gazebo with example controller

roslaunch franka_gazebo panda.launch x:=0 y:=0 z:=0 world:=$(rospack find franka_gazebo)/world/stone.sdf controller:=effort_joint_trajectory_controller

Current errors and TODO

• It automatically assumes that the player is playing the white pieces and robot is playing the black pieces. (will be fixed in the next version)
• It doesn't send robot's first move to motion_controller. Sends rest of the moves correctly.
• I get 2 prompts when I first start turn_controller for the first player move, then it goes back to normal. Doesn't affect the game just need to enter the first move twice
• Gets stuck after checkmate. The is_checkmate() condition doesn't work.
• motion_controller for gazebo: pick and place working but robot makes unnecessary movements.
• Capturing and recovering pieces not fully implemented yet!
• Sending 2 moves for the robot for castling and capturing pieces not implemented yet
• motion_controller for the real robot hasn't been tested yet
• motion_controller needs to send a message to board_sensor indicating that the move is done (V1)

V2 TODO

• SETTING UP THE BOARD AND SENDING IT TO GAME CONTROLLER

  • Need to detect the board square length
  • Need to detect the center coordinates of the board
  • Need to detect the pieces (and it's width and height)
  • Need to detect in which square each of the pieces are --> we can infer the square coordinates after finding out the square len and center
  • Need to detect who is playing with white and who is playing with black

• DURING THE GAME

  • Need to find a way to detect the player move and send it to game controller in the format a1a2
  • Need to find a way to signal that the player move is over and change turns accordingly
  • tracking

franka_gazebo

Replace the original franka_gazebo with the one provided here. (Added models for chessboard, pieces etc)

Needed packages

• libfranka
• franka_ros
• stockfish
• python-chess
• roboticstoolbox-python

UML